doc: update links and names for DevTools Protocol

PR-URL: https://github.com/nodejs/node/pull/20111


Reviewed-By: Anatoli Papirovski <apapirovski@mac.com>
Reviewed-By: Eugene Ostroukhov <eostroukhov@google.com>
Reviewed-By: Rich Trott <rtrott@gmail.com>
Reviewed-By: Richard Lau <riclau@uk.ibm.com>